光电系统中的自归零复合轴稳瞄系统

doi:10.12382/bgxb.2023.1157

摘要/Abstract

摘要：

针对传统复合轴稳瞄系统子轴运动范围较小、易积分饱和导致系统失效的问题,提出自归零复合轴稳瞄系统。在剖析传统复合轴稳瞄系统子轴易积分饱和致系统失效原由的基础上,提出主轴据强度函数随动子轴的自归零复合轴稳瞄系统,通过直观展示、理论分析及数学仿真软件仿真其在避免子轴积分饱和及增强系统抗扰特性方面的可行性及优势,并搭建试验平台开展试验验证。测试结果表明,在低频段,自归零复合轴稳瞄系统可在保证子轴扰动抑制能力的同时,大幅度增强系统的主轴扰动抑制能力,使主轴误差维持在较小值,避免子轴限位饱和。由此表明自归零复合轴稳瞄系统的可行性,及其在避免子轴限位饱和、维持系统稳定性方面的优势。

关键词: 光电系统, 稳瞄系统, 复合轴, 自归零, 快速反射镜

Abstract:

The sub-axis of traditional compound axis stabilized sighting system has a small motion range,which is easy to reach saturation integration and causes the failure of system.As to the problem above,a self-returning-zero compound axis stabilized sighting system is proposed.On the basis of analyzing the reasons why the sub-axis of traditional compound axis stabilized sighting system is prone to integral saturation and leads to system failure,a self-returning-zero compound axis stabilized sighting system of which the main axis moves along with the sub axis according to the strength function is proposed.The feasibility and advantages of the proposed stabilized sighting system to avoid the integral saturation and enhance the anti-interference characteristics are visually demonstrated,theoretically analyzed,and simulated with mathematical simulation software,and a test platform is built for experimental verification.The test shows that,in the low frequency band,the self-returning-zero compound axis stabilized sighting system can not only guarantee the vibration rejection ability of sub axis,but also greatly enhance the vibration rejection ability of main axis,so that the main axis error is maintained at a small value,so as to avoid the limit saturation of sub axis.This shows the feasibility of the self-returning-zero compound axis stabilized sighting system and its advantages in avoiding the limit saturation of sub axis and maintaining stability of the system.

Key words: electro-optic system, stabilized sighting system, compound axis, self-returning-zero, fast steering mirror

中图分类号:

TN917. 82

刘小强, 牛帅旭, 杨修林, 王虎, 杨永安, 张蕙菁, 柳井莉, 赵子淳. 光电系统中的自归零复合轴稳瞄系统[J]. 兵工学报, 2025, 46(1): 231157-.

LIU Xiaoqiang, NIU Shuaixu, YANG Xiulin, WANG Hu, YANG Yong’an, ZHANG Huijing, LIU Jingli, ZHAO Zichun. Self-returning-zero Compound Axis Stabilized Sighting System in Electro-optic System[J]. Acta Armamentarii, 2025, 46(1): 231157-.

图/表 13

图1 光电系统复合轴稳瞄系统的结构示意图

Fig.1 Schematic diagram of the structure of compound axis stabilized sighting system in electro-optic system

图2 传统复合轴稳瞄系统控制原理图

Fig.2 Control principle diagram of traditional compound axis stabilized sighting system

图3 自归零复合轴稳瞄系统控制原理图

Fig.3 Control principle diagram of self-returning-zero compound axis stabilized sighting system

图4 复合轴系统机构运动关系示意图

Fig.4 Kinematic relation between main axis and sub axis in the compound axis system

图5 设计强度函数W1对应等效控制框图

Fig.5 Block diagram of equivalent control corresponding to the design of strength function W1

表1 扰动抑制能力仿真条件

Table 1 Vibration rejection simulation conditions

参数	剪切频率/ Hz	相位裕度/ (°)	带宽/Hz	超调
子轴控制特性	41	56	74	1.14
主轴控制特性	12	46	22	1.40

图6 自归零复合轴稳瞄系统与传统复合轴稳瞄系统主轴扰动抑制对比曲线

Fig.6 Comparison of the main axis vibration rejection curves of self-returning-zero compound axis stabilized sighting system and traditional compound axis stabilized sighting control system

图7 自归零复合轴稳瞄系统测试方案

Fig.7 Test scheme of self-returning-zero compound axis stabilized sighting system

图8 自归零复合轴稳瞄系统实物测试图

Fig.8 Physical test diagram of self-returning-zero compound axis stabilized sighting system

表2 传统复合轴稳瞄系统扰动抑制误差测试数据

Table 2 Vibration rejection error test data of traditional compound axis stabilized sighting system

频率/ Hz	幅值/ (°)	主轴误差统计/μrad		子轴误差统计/μrad
频率/ Hz	幅值/ (°)	均方差	标准差	均方差	标准差
0.3	55	118.73	89.64	-0.53	3.88
0.4	45	107.05	93.71	-0.20	5.21
0.7	15	121.42	87.00	0.043	3.97

表3 自归零复合轴稳瞄系统扰动抑制误差测试数据

Table 3 Vibration rejection error test data of self-returning-zero compound axis stabilized sighting system

频率/ Hz	幅值/ (°)	主轴误差统计/μrad		子轴误差统计/μrad
频率/ Hz	幅值/ (°)	均方差	标准差	均方差	标准差
0.3	55	-4.79	23.28	0.0025	4.09
0.4	45	1.61	19.13	-0.011	4.33
0.7	15	-2.96	26.77	0.037	4.44

图9 频率0.3Hz幅值55°扰动子轴误差对比图

Fig.9 Comparison of sub axis errors with a frequency of 0.3Hz and a amplitude of 55°

图10 频率0.3Hz幅值55°扰动主轴误差对比图

Fig.10 Comparison of main axis errors with a frequency of 0.3Hz and a amplitude of 55°

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